Crawler mechanism, crawler robot and autonomous work equipment

Abstract

The utility model relates to robot technical field especially relates to a caterpillar band mechanism, caterpillar robot and autonomous operation equipment. The caterpillar band mechanism includes drive component, driving wheel, driven wheel, driven shaft, caterpillar band and is equipped with the support subassembly of containing space, drive component includes drive body and the drive shaft that opposite both ends all penetrate drive body, drive body installs on driving wheel, driven shaft rotatory installation is in support subassembly, driven wheel installs on driven shaft, the opposite both ends of drive shaft all rotatory installation is in support subassembly, driving wheel and drive body all are located in containing space, the caterpillar band is set up in driving wheel and driven wheel. In the utility model, the compact structure of this caterpillar band mechanism, occupies small space.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a tracked mechanism, a tracked robot, and an autonomous operating device. Background Technology

[0002] With the continuous development of automation technology, tracked mechanisms are increasingly being used in various types of robots. For example, automatic lawnmowers use tracked mechanisms, which do not leave wheel tracks when walking on the lawn, ensuring the aesthetics of the lawn. Similarly, home-use automatic snowplows also use tracked mechanisms, which are less prone to slipping accidents when walking on snow.

[0003] In existing technologies, tracked mechanisms typically include a drive motor, a gearbox, a support frame, tracks, and drive and driven wheels spaced apart on the support frame. The tracks are fitted onto the drive and driven wheels, and the drive motor is connected to the drive wheel via the gearbox. However, in existing systems, the output shaft of the drive motor is perpendicular to the output shaft of the gearbox, and both the drive motor and the gearbox are mounted inside the support frame. Since the inside of the support frame needs to be connected to the vehicle body, existing tracked mechanisms suffer from technical problems such as large space requirements and inconvenient installation and operation. Summary of the Invention

[0004] This utility model provides a tracked mechanism, a tracked robot, and an autonomous operating device to solve the technical problems of existing tracked mechanisms, such as large space occupation and inconvenient installation and operation.

[0005] An embodiment of the present invention provides a track mechanism, including a drive component, a drive wheel, a driven wheel, a driven shaft, a track, and a support assembly with a receiving space;

[0006] The driving component includes a driving body and a driving shaft with both ends passing through the driving body, and the driving body is mounted on the drive wheel;

[0007] The driven shaft is rotatably mounted on the support assembly, and the driven wheel is mounted on the driven shaft;

[0008] Both ends of the drive shaft are rotatably mounted on the support assembly, and the drive wheel and the drive body are both located in the receiving space;

[0009] The tracks are fitted onto the drive wheel and the driven wheel.

[0010] Optionally, the track extends along a first direction, and a plurality of track protrusions are provided on the outer surface of the track at intervals along the first direction, the track protrusions extending along the width direction of the track;

[0011] A track gap is provided between two adjacent track protrusions, and a plurality of anti-slip grooves are provided on the inner wall of each track gap at intervals along the track width direction.

[0012] Optionally, each of the track gaps may also have a protrusion on its inner wall.

[0013] Optionally, the support assembly includes a first support frame, a second support frame, and a straight arm connecting rod mounted on the second support frame; the accommodating space is disposed between the first support frame and the second support frame;

[0014] The two ends of the driven shaft are respectively mounted on the first support frame and the second support frame, and the two ends of the drive shaft are respectively mounted on the first support frame and the straight arm connecting rod.

[0015] Optionally, the support assembly further includes a support block mounted on the second support frame; the straight arm connecting rod is provided with at least one first connecting hole for connecting to the vehicle body, and the support block is provided with at least one second connecting hole for connecting to the vehicle body, wherein the axis of the first connecting hole is perpendicular to the axis of the second connecting hole.

[0016] Optionally, the first support frame has a first receiving groove on the side opposite to the receiving space, and the second support frame has a second receiving groove on the side opposite to the receiving space;

[0017] The support assembly further includes a first cover plate and a second cover plate; the first cover plate is detachably mounted on the first support frame and is used to cover the first receiving groove; the second cover plate is detachably mounted on the second support frame and is used for the second receiving groove.

[0018] The second cover plate is provided with a first through hole and a second through hole spaced apart, and both the first through hole and the second through hole are connected to the second receiving groove;

[0019] The end of the straight arm connecting rod away from the first support frame passes through the first through hole, and the first connecting hole is located outside the second receiving groove; the end of the support block away from the first support frame passes through the second through hole, and the second connecting hole is located outside the second receiving groove.

[0020] Optionally, the track mechanism further includes a tensioning assembly, which includes a mounting block, a connector, and a suspension; the mounting block is connected to the first support frame and the second support frame at opposite ends; one end of the connector is connected to the mounting block, and the other end of the connector is connected to the suspension, the connector being used to adjust the distance between the mounting block and the suspension; both the mounting block and the suspension are located within the accommodating space.

[0021] The first support frame is provided with a first sliding hole, and the second support frame is provided with a second sliding hole;

[0022] The driven shaft is rotatably mounted on the suspension, and the opposite ends of the driven shaft are slidably mounted in the first sliding hole and the second sliding hole, respectively.

[0023] Optionally, the track mechanism further includes a scraping component mounted on the first support frame and the second support frame; the scraping component is located in the receiving space and is disposed opposite to the drive wheel.

[0024] Optionally, the drive body includes a motor and a reducer, and the drive shaft passes through the motor and the reducer.

[0025] Another embodiment of the present invention provides a tracked robot, including a main body and at least one of the above-described track mechanisms disposed on the main body.

[0026] Another embodiment of this utility model provides an autonomous operating device, including an operating device and the aforementioned tracked robot; the operating device is disposed on the main body of the tracked robot.

[0027] In this invention, the driving component includes a driving body and a driving shaft with both ends passing through the driving body. The driving body is mounted on the drive wheel. The driven shaft is mounted on the support assembly, and the driven wheel is rotatably mounted on the driven shaft and located within the accommodating space of the support assembly. Both ends of the driving shaft are rotatably mounted on the support assembly, and the drive wheel and the driving body are both located within the accommodating space. The driving component, the drive wheel, and the driven wheel are all located within the internal space of the support assembly. The driving component does not occupy the external space of the support assembly, improving the compactness of the track mechanism and reducing its space occupation, facilitating miniaturization design, and making it particularly suitable for space-constrained scenarios such as robots and inspection equipment. The coaxial arrangement of the drive shaft and the drive wheel avoids energy loss in the intermediate transmission structure, improves transmission rigidity, and provides faster response. The driving component reduces multi-stage transmission components, resulting in lower vibration and mechanical noise during operation, while also reducing wear points and extending service life. Furthermore, the driving component does not obstruct the mounting of the support assembly on the vehicle body, improving the ease of installation of the track mechanism. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the track mechanism provided in one embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the track mechanism provided in one embodiment of the present invention from another perspective;

[0031] Figure 3 This is a schematic diagram of the track mechanism provided in one embodiment of the present invention;

[0032] Figure 4 This is a partial structural schematic diagram of the track mechanism provided in one embodiment of the present invention from another perspective;

[0033] Figure 5 A front view of the drive component and drive wheel provided in an embodiment of this utility model.

[0034] The reference numerals in the accompanying drawings are as follows:

[0035] 1. Drive component; 11. Drive body; 12. Drive shaft; 2. Drive wheel; 3. Driven wheel; 4. Driven shaft; 5. Track; 51. Track protrusion; 52. Track clearance; 53. Anti-slip groove; 54. Protrusion; 6. Support assembly; 61. Accommodation space; 62. First support frame; 621. First accommodating groove; 622. First sliding hole; 63. Second support frame; 631. Second accommodating groove; 632. Second sliding hole; 64. Straight arm connecting rod; 641. First connecting hole; 65. Support block; 651. Second connecting hole; 66. First cover plate; 67. Second cover plate; 671. First through hole; 672. Second through hole; 8. Tensioning assembly; 81. Mounting block; 82. Connector; 83. Suspension; 9. Scraping component. Detailed Implementation

[0036] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0037] like Figures 1 to 5As shown, an embodiment of the present invention provides a track mechanism, including a drive component 1, a drive wheel 2, a driven wheel 3, a driven shaft 4, a track 5, and a support component 6 with a receiving space 61;

[0038] The drive component 1 includes a drive body 11 and a drive shaft 12 with both ends passing through the drive body 11. The drive body 11 is mounted on the drive wheel 2.

[0039] The driven shaft 4 is rotatably mounted on the support assembly 6, and the driven wheel 3 is mounted on the driven shaft 4;

[0040] Both ends of the drive shaft 12 are rotatably mounted on the support assembly 6, and the drive wheel 2 and the drive body 11 are both located in the accommodating space 61;

[0041] The track 5 is fitted onto the drive wheel 2 and the driven wheel 3.

[0042] The driving component 1 includes, but is not limited to, a motor, etc. The two ends of the driving shaft 12 are located outside the driving body 11. The two ends of the driving shaft 12 can be rotatably mounted on the support assembly 6 through bearings, and the driven shaft 4 can be rotatably mounted on the support assembly 6 through bearings.

[0043] Specifically, the drive component 1 drives the drive wheel 2 to rotate, and the drive wheel 2 drives the track 5 to move, so that the track mechanism can walk on the ground or grass.

[0044] In this invention, the driving component 1 includes a driving body 11 and a driving shaft 12 with both ends of the driving body 11 passing through it. The driving body 11 is mounted on the driving wheel 2. The driven shaft 4 is mounted on the support assembly 6. The driven wheel 3 is rotatably mounted on the driven shaft 4 and located in the receiving space 61 of the support assembly 6. Both ends of the driving shaft 12 are rotatably mounted on the support assembly 6. The driving wheel 2 and the driving body 11 are both located in the receiving space 61. The drive component 1, the drive wheel 2, and the driven wheel 3 are all located within the internal space of the support assembly 6. The drive component 1 does not occupy the outer space of the support assembly 6, improving the compactness of the track mechanism and reducing its space requirements. This facilitates miniaturization of the track mechanism, making it particularly suitable for space-constrained applications such as robots and inspection equipment. The drive shaft 12 is coaxially arranged with the drive wheel 2, avoiding energy loss in the intermediate transmission structure, improving transmission rigidity, and resulting in faster response. The drive component 1 reduces the number of multi-stage transmission components, resulting in lower vibration and mechanical noise during operation, while also reducing wear points and extending service life. Furthermore, the drive component 1 does not obstruct the installation of the support assembly 6 on the vehicle body, improving the ease of installation of the track mechanism.

[0045] In one embodiment, such as Figure 1 and Figure 2 As shown, the track 5 extends along a first direction, and a plurality of track protrusions 51 are provided on the outer surface of the track 5 at intervals along the first direction. The track protrusions 51 extend along the width direction of the track 5.

[0046] A track gap 52 is provided between two adjacent track protrusions 51, and a plurality of anti-slip grooves 53 are provided on the inner wall of each track gap 52 at intervals along the width direction of the track 5.

[0047] The width and number of the track protrusions 51 can be set according to actual needs, and the distance between two adjacent track protrusions 51 can also be set according to actual needs.

[0048] In this embodiment, the design of the track protrusion 51 gives the track 5 a certain degree of flexibility, making it easy for the track 5 to walk on the ground, grass, and snow; in addition, the design of the anti-slip groove 53 makes the track mechanism less prone to slippage accidents.

[0049] In one embodiment, such as Figure 1 and Figure 2 As shown, each of the track gaps 52 has a protrusion 54 on its inner wall.

[0050] The protrusion 54 is located in the middle of the track gap 52.

[0051] In this embodiment, the design of the protrusion 54 allows the track 5 to contact the ground, grass, or snow through the track protrusion 51 and the protrusion 54, ensuring the stability of the track 5 and further reducing the probability of the track mechanism slipping.

[0052] In one embodiment, such as Figure 3 and Figure 4 As shown, the support assembly 6 includes a first support frame 62, a second support frame 63, and a straight arm connecting rod 64 mounted on the second support frame 63; the accommodating space 61 is disposed between the first support frame 62 and the second support frame 63.

[0053] The two ends of the driven shaft 4 are respectively mounted on the first support frame 62 and the second support frame 63, and the two ends of the drive shaft 12 are respectively mounted on the first support frame 62 and the straight arm connecting rod 64.

[0054] The first support frame 62 is located on the outside of the track mechanism, and the second support frame 63 and the straight arm connecting rod 64 are located on the inside of the track mechanism. The track mechanism can be mounted on the vehicle body through the straight arm connecting rod 64.

[0055] In this embodiment, the drive component 1 can be mounted on the vehicle body via the straight arm link 64. The straight arm link 64 is directly fixedly connected to the vehicle body, which improves the load-bearing capacity of the straight arm link 64 and ensures the stability of the drive component 1 and the drive wheel 2.

[0056] In one embodiment, such as Figure 2 As shown, the support assembly 6 further includes a support block 65 mounted on the second support frame 63; the straight arm connecting rod 64 is provided with at least one first connecting hole 641 for connecting the vehicle body, and the support block 65 is provided with at least one second connecting hole 651 for connecting the vehicle body, wherein the axis of the first connecting hole 641 is perpendicular to the axis of the second connecting hole 651.

[0057] The straight arm connecting rod 64 can be fixedly installed on the vehicle body by first fasteners such as screws and bolts inserted into the first connecting hole 641; the support block 65 can be fixedly installed on the vehicle body by second fasteners such as screws and bolts inserted into the second connecting hole 651.

[0058] In this embodiment, the track mechanism is mounted on the vehicle body via the support block 65 and the straight arm connecting rod 64. The straight arm connecting rod 64 is connected to the vehicle body using a first fastener, and the support block 65 is connected to the vehicle body using a second fastener. The first fastener and the second fastener are perpendicular, so that when the track mechanism vibrates horizontally or vertically, at least one of the first fastener and the second fastener is in a fixed connection state. This allows the track mechanism to withstand larger vertical or impact loads, which is beneficial for maintaining the ground contact of the track 5 under rough road conditions and provides stronger adaptability to uneven ground, steps, obstacles, etc.

[0059] In one embodiment, such as Figures 1 to 4 As shown, the first support frame 62 has a first receiving groove 621 on the side opposite to the receiving space 61, and the second support frame 63 has a second receiving groove 631 on the side opposite to the receiving space 61.

[0060] The support assembly 6 further includes a first cover plate 66 and a second cover plate 67; the first cover plate 66 is detachably mounted on the first support frame 62 and is used to cover the first receiving groove 621; the second cover plate 67 is detachably mounted on the second support frame 63 and is used for the second receiving groove 631.

[0061] The second cover plate 67 is provided with a first through hole 671 and a second through hole 672 spaced apart, and both the first through hole 671 and the second through hole 672 are connected to the second receiving groove 631;

[0062] The end of the straight arm connecting rod 64 away from the first support frame 62 passes through the first through hole 671, and the first connecting hole 641 is located outside the second receiving groove 631; the end of the support block 65 away from the first support frame 62 passes through the second through hole 672, and the second connecting hole 651 is located outside the second receiving groove 631.

[0063] The first receiving groove 621 faces the outside of the track mechanism, and the second receiving groove 631 faces the inside of the track mechanism; the first cover plate 66 can be installed on the first support frame 62 by screws, bolts, snap-fit ​​structures, etc., and the second cover plate 67 can be installed on the second support frame 63 by screws, bolts, snap-fit ​​structures, etc.

[0064] In this embodiment, the first cover plate 66 can cover the outer end of the drive shaft 12, the outer end of the driven shaft 4, and other components in the first receiving groove 621, and the second cover plate 67 can cover the inner end of the drive shaft 12, the inner end of the driven shaft 4, and other components in the second receiving groove 631. This ensures the aesthetics of the track mechanism and reduces the probability of dust, impurities, and other contaminants on the drive shaft 12, driven shaft 4, bearings, etc., thereby extending the service life of the track mechanism.

[0065] In one embodiment, such as Figure 3 As shown, the track mechanism further includes a tensioning assembly 8, which includes a mounting block 81, a connector 82, and a suspension 83. The mounting block 81 is connected to the first support frame 62 and the second support frame 63 at opposite ends. One end of the connector 82 is connected to the mounting block 81, and the other end is connected to the suspension 83. The connector 82 is used to adjust the distance between the mounting block 81 and the suspension 83. Both the mounting block 81 and the suspension 83 are located within the accommodating space 61.

[0066] The first support frame 62 is provided with a first sliding hole 622, and the second support frame 63 is provided with a second sliding hole 632;

[0067] The driven shaft 4 is rotatably mounted on the suspension 83, and the opposite ends of the driven shaft 4 are slidably mounted in the first sliding hole 622 and the second sliding hole 632, respectively.

[0068] The first sliding hole 622 extends along the length of the first support frame 62, and the second sliding hole 632 extends along the length of the second support frame 63. The two opposite ends of the driven shaft 4 are respectively connected in the first sliding hole 622 and the second sliding hole 632. The connecting member 82 includes, but is not limited to, screws, etc., and the connecting member 82 is threadedly connected to the mounting block 81. The suspension 83 is a U-shaped structure.

[0069] Specifically, the connecting member 82 can drive the suspension 83 to move toward one end closer to or away from the drive wheel 2, and the suspension 83 can drive the driven wheel 3 to move toward one end closer to or away from the drive wheel 2, thereby achieving the function of adjusting the tension of the track 5.

[0070] In this embodiment, the tensioning component 8 has a simple structure and is easy to operate.

[0071] In one embodiment, such as Figure 3 As shown, the track mechanism also includes a scraping component 9 mounted on the first support frame 62 and the second support frame 63; the scraping component 9 is located in the receiving space 61 and is disposed opposite to the drive wheel 2.

[0072] The scraping part of the scraping component 9 faces the drive wheel 2 and does not contact the drive wheel 2.

[0073] Specifically, when the drive wheel 2 is covered with foreign objects such as snow, mud, and weeds, the scraping component 9 can scrape off the foreign objects from the drive wheel 2, ensuring the cleanliness of the drive wheel 2 and thus ensuring the stability of the track mechanism.

[0074] In one embodiment, the drive body 11 includes a motor and a reducer, and the drive shaft 12 passes through the motor and the reducer.

[0075] The motor can be a brushless DC motor, and the reducer can be a planetary gear mechanism, etc. The reducer can reduce speed and increase torque.

[0076] Another embodiment of the present invention provides a tracked robot, including a main body and at least one of the above-described track mechanisms disposed on the main body.

[0077] The main body refers to a chassis platform with an independent power system and mobility, used to carry and drive the removal equipment to move and operate on the ground. Its form includes wheeled, tracked or other controllable mobile mechanisms, which can realize manual or automatic operation functions.

[0078] Another embodiment of this utility model provides an autonomous operating device, including an operating device and the aforementioned tracked robot, wherein the autonomous operating device is mounted on the main body of the tracked robot.

[0079] The operating equipment can be a snow blower, a cutter, a leaf blower, etc.

[0080] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A tracked mechanism, characterized in that, It includes a drive unit, a drive wheel, a driven wheel, a driven shaft, tracks, and a support assembly with a receiving space; The driving component includes a driving body and a driving shaft with both ends passing through the driving body, and the driving body is mounted on the drive wheel; The driven shaft is rotatably mounted on the support assembly, and the driven wheel is mounted on the driven shaft; Both ends of the drive shaft are rotatably mounted on the support assembly, and the drive wheel and the drive body are both located in the receiving space; The tracks are fitted onto the drive wheel and the driven wheel.

2. The track mechanism according to claim 1, characterized in that, The support assembly includes a first support frame, a second support frame, and a straight arm connecting rod mounted on the second support frame; the accommodating space is disposed between the first support frame and the second support frame. The two ends of the driven shaft are respectively mounted on the first support frame and the second support frame, and the two ends of the drive shaft are respectively mounted on the first support frame and the straight arm connecting rod.

3. The track mechanism according to claim 2, characterized in that, The support assembly further includes a support block mounted on the second support frame; the straight arm connecting rod is provided with at least one first connecting hole for connecting to the vehicle body, and the support block is provided with at least one second connecting hole for connecting to the vehicle body, wherein the axis of the first connecting hole is perpendicular to the axis of the second connecting hole.

4. The track mechanism according to claim 3, characterized in that, The first support frame has a first receiving groove on the side opposite to the receiving space, and the second support frame has a second receiving groove on the side opposite to the receiving space; The support assembly further includes a first cover plate and a second cover plate; the first cover plate is detachably mounted on the first support frame and is used to cover the first receiving groove; the second cover plate is detachably mounted on the second support frame and is used for the second receiving groove. The second cover plate is provided with a first through hole and a second through hole spaced apart, and both the first through hole and the second through hole are connected to the second receiving groove; The end of the straight arm connecting rod away from the first support frame passes through the first through hole, and the first connecting hole is located outside the second receiving groove; the end of the support block away from the first support frame passes through the second through hole, and the second connecting hole is located outside the second receiving groove.

5. The track mechanism according to claim 2, characterized in that, The track mechanism further includes a tensioning assembly, which includes a mounting block, a connector, and a suspension. The mounting block is connected to the first support frame and the second support frame at opposite ends. One end of the connector is connected to the mounting block, and the other end is connected to the suspension. The connector is used to adjust the distance between the mounting block and the suspension. Both the mounting block and the suspension are located within the accommodating space. The first support frame is provided with a first sliding hole, and the second support frame is provided with a second sliding hole; The driven shaft is rotatably mounted on the suspension, and the opposite ends of the driven shaft are slidably mounted in the first sliding hole and the second sliding hole, respectively.

6. The track mechanism according to claim 2, characterized in that, The track mechanism further includes a scraping component mounted on the first support frame and the second support frame; the scraping component is located in the receiving space and is disposed opposite to the drive wheel.

7. The track mechanism according to claim 1, characterized in that, The track extends along a first direction, and a plurality of track protrusions are provided on the outer surface of the track at intervals along the first direction, the track protrusions extending along the width direction of the track. A track gap is provided between two adjacent track protrusions, and a plurality of anti-slip grooves are provided on the inner wall of each track gap at intervals along the track width direction.

8. The track mechanism according to claim 7, characterized in that, Each of the track gaps also has a protrusion on its inner wall.

9. A tracked robot, characterized in that, It includes a main body and at least one track mechanism as described in any one of claims 1 to 8 disposed on the main body.

10. An autonomous operating device, characterized in that, It includes a working device and a tracked robot as described in claim 9; the working device is mounted on the body of the tracked robot.

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